CN106003036A - Object grabbing and placing system based on binocular vision guidance - Google Patents
Object grabbing and placing system based on binocular vision guidance Download PDFInfo
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- CN106003036A CN106003036A CN201610428750.8A CN201610428750A CN106003036A CN 106003036 A CN106003036 A CN 106003036A CN 201610428750 A CN201610428750 A CN 201610428750A CN 106003036 A CN106003036 A CN 106003036A
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- binocular
- mechanical arm
- binocular vision
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- stereo camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
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Abstract
The invention particularly relates to an object grabbing and placing system based on binocular vision guidance. The object grabbing and placing system based on binocular vision guidance consists of a binocular vision unit, a robot unit and an image processing and control computer; the image processing and control computer is connected with a binocular three-dimensional camera through a 1394 interface, and is connected with a mechanical arm control cabinet through a gigabit ethernet; and the binocular vision unit consists of the binocular three-dimensional camera and an image acquiring board card. The object grabbing and placing system based on binocular vision guidance uses the image processing and control computer for processing binocular images obtained by the image acquiring card and the binocular three-dimensional camera, identifies and positions objects in the images, and uses a positioning result to guide a mechanical arm to finish grabbing and placing actions of a target object.
Description
Technical field
Present invention relates particularly to a kind of grasping body guided based on binocular vision and place system.
Background technology
Along with the proposition of the High-tech strategy such as " made in China 2025 ", " machine substitution ", to robot in industrial processes
Degree of intelligence require more and more higher.Although industrial robot has been widely used in industrial production line at present, but machine of speaking more greatly
People is to be operated in the action completing to be previously set under teaching pattern, if workpiece surrounding change be likely to result in right
Specify work piece operations mission failure.Due to mechanical arm cannot the shortcoming of perception surrounding environment change the biggest limit industrial machine mechanical arm
Application in industrial processes.
The most external information sources obtained with reference to the mankind and eyes, and then make various decision-making and action by brain.?
Binocular stereo camera is incorporated in the middle of the control of mechanical arm, makes mechanical arm have the visual performance that people is the same, by a series of
Image processing techniques extracts the target characteristic in image, thus realizes identification and the location of target object.
In the grasping body and placement process of unknown pose, image processing techniques and mechanical arm are controlled technology and combines, pass through
Its three-dimensional position is also measured, vectoring aircraft by object in a series of image processing techniques identification binocular stereo camera visual field
Mechanical arm completes the crawl to object and placement, and the range of application of enlarger mechanical arm and the degree of intelligence of raising mechanical arm are all had weight
Big meaning.
Summary of the invention
It is an object of the invention to provide to provide and a kind of solve the feelings that target object three-dimensional position is unknown and surrounding persistently changes
Under condition, use binocular stereo vision to complete target object identification and location, thus vectoring aircraft mechanical arm completes the crawl to target object
Capture and place system with the target based on binocular vision of placement action.
It is an object of the invention to be realized by below scheme:
A kind of grasping body guided based on binocular vision and place system, by binocular vision unit, robot cell and image
Reason forms with controlling computer, and image procossing is connected with binocular stereo camera by 1394 interfaces, by thousand with controlling computer
Mbit ethernet is connected with mechanical arm switch board；Binocular vision unit is made up of, wherein binocular stereo camera and image acquisition board
About binocular camera, the distance of two camera center lines is 120mm, and binocular stereo camera is arranged on mechanical arm tail end paw
With mechanical arm composition eye at visual system on hand；Image pick-up card is arranged on image procossing and controls in computer PCI-E slot,
Image pick-up card is connected by 1394 interfaces with binocular stereo camera.
Robot cell is made up of sixdegree-of-freedom simulation, mechanical arm switch board and end paw, and end paw is arranged on mechanical arm
6th shaft end flange；Mechanical arm switch board is connected with controlling computer with image procossing by netting twine.
The beneficial effects of the present invention is: the present invention includes that binocular vision unit, robot cell and image procossing and control calculate
Machine, image procossing and control computer are connected by 1394 interfaces and binocular vision unit, by gigabit Ethernet and robot control
Cabinet processed connects.The binocular image using image procossing and control computer to obtain image pick-up card and binocular stereo camera is carried out
Image procossing, is identified the object in image and positions, and uses positioning result vectoring aircraft mechanical arm to complete to grab target object
Take and place action.
Accompanying drawing explanation
Fig. 1 is that a kind of target guided based on binocular vision captures the composition diagram with place system；
Fig. 2 is a kind of grasping body guided based on binocular vision and place system identification, positions and capture flow chart；
Fig. 3 is that a kind of target guided based on binocular vision captures the image procossing with place system and control software sectional drawing.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described further.
The present invention is to provide a kind of grasping body guided based on binocular vision and place system.This system by binocular vision unit,
Robot cell and image procossing form with control computer.Image procossing passes through 1394 interfaces and binocular vision with controlling computer
Unit connects, and is connected with robot control cabinet by netting twine.Binocular vision unit is mainly by binocular stereo camera, image acquisition
Card composition, for collection and the transmission of image.Robot cell is by sixdegree-of-freedom simulation, mechanical arm switch board and end paw
Composition, for realizing crawl and the placement of target object.Image procossing is mainly used to obtain binocular vision unit with controlling computer
The image obtained processes, and stable identification, location target object vectoring aircraft mechanical arm complete crawl and the placement action of object.
With when controlling software startup, binocular stereo camera and sixdegree-of-freedom simulation are initialized at image procossing, set up figure respectively
As processing and control computer and binocular stereo camera, the contacting of robot control cabinet.
Respectively left and right two camera review obtained is carried out target's feature-extraction and identification, and it is former to combine binocular solid parallax measurement
Reason carries out stereoscopic localized to target object.If target's feature-extraction keeps original state with recognition failures then mechanical arm, until
Left and right two eye pattern pictures detect that target characteristic carries out next step action more simultaneously.
According to the transformation matrix between binocular stereo camera coordinate system and mechanical arm tail end paw coordinate system, the mesh that measurement is obtained
Mechanical arm is informed by the homogeneous transform matrix between Two coordinate system in mark object dimensional position.
The posture information vectoring aircraft mechanical arm of the target object " informed " according to binocular stereo camera completes the crawl to target object
With placement action.
Whole binocular vision carries out stereotactic process, binocular collection and the image processed and is shown in image target object
Process and control in software.It addition, mechanical arm current motion state, each joint of mechanical arm angle and mechanical arm tail end coordinate system
It is shown in image procossing relative to position and the attitude of basis coordinates system and controls in software.
The present invention gives the target crawl and place system flow chart guided based on binocular vision, such as Fig. 2 institute according to above analysis
Show.
Claims (2)
1. the grasping body guided based on binocular vision and a place system, by binocular vision unit, robot cell and image
Processing and control computer composition, image procossing is connected with binocular stereo camera by 1394 interfaces with controlling computer, passes through
Gigabit Ethernet is connected with mechanical arm switch board；It is characterized in that: binocular vision unit is by binocular stereo camera and image acquisition
Board forms, and wherein about binocular camera, the distance of two camera center lines is 120mm, and binocular stereo camera is arranged on machine
With mechanical arm composition eye at visual system on hand on mechanical arm end paw；Image pick-up card is arranged on image procossing and controls computer
In PCI-E slot, image pick-up card is connected by 1394 interfaces with binocular stereo camera.
A kind of grasping body guided based on binocular vision the most according to claim 1 and place system, it is characterised in that:
Robot cell is made up of sixdegree-of-freedom simulation, mechanical arm switch board and end paw, and end paw is arranged on mechanical arm the 6th
Shaft end flange；Mechanical arm switch board is connected with controlling computer with image procossing by netting twine.
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| CN201610428750.8A CN106003036A (en) | 2016-06-16 | 2016-06-16 | Object grabbing and placing system based on binocular vision guidance |
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| CN201610428750.8A CN106003036A (en) | 2016-06-16 | 2016-06-16 | Object grabbing and placing system based on binocular vision guidance |
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| CN201610428750.8A Pending CN106003036A (en) | 2016-06-16 | 2016-06-16 | Object grabbing and placing system based on binocular vision guidance |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774324A (en) * | 2016-12-22 | 2017-05-31 | 以恒激光科技（北京）有限公司 | A kind of three-dimensional identification patrol robot of dual camera |
| CN106826822A (en) * | 2017-01-25 | 2017-06-13 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS systems |
| CN106926241A (en) * | 2017-03-20 | 2017-07-07 | 深圳市智能机器人研究院 | A kind of the tow-armed robot assembly method and system of view-based access control model guiding |
| CN107443369A (en) * | 2017-06-25 | 2017-12-08 | 重庆市计量质量检测研究院 | A kind of robotic arm of the inverse identification of view-based access control model measurement model is without demarcation method of servo-controlling |
| CN107471218A (en) * | 2017-09-07 | 2017-12-15 | 南京理工大学 | A kind of tow-armed robot hand eye coordination method based on multi-vision visual |
| CN107911687A (en) * | 2017-12-11 | 2018-04-13 | 中国科学院长春光学精密机械与物理研究所 | Teleoperation of robot auxiliary system based on binocular stereo vision |
| CN108381549A (en) * | 2018-01-26 | 2018-08-10 | 广东三三智能科技有限公司 | A kind of quick grasping means of binocular vision guided robot, device and storage medium |
| CN108453739A (en) * | 2018-04-04 | 2018-08-28 | 北京航空航天大学 | Stereoscopic vision positioning mechanical arm grasping system and method based on automatic shape fitting |
| CN108621436A (en) * | 2017-03-23 | 2018-10-09 | 泰科电子(上海)有限公司 | Package system |
| CN109108975A (en) * | 2018-08-31 | 2019-01-01 | 深圳市博辉特科技有限公司 | A kind of 6 axis robot of binocular vision guidance system |
| CN111823223A (en) * | 2019-08-19 | 2020-10-27 | 北京伟景智能科技有限公司 | Robot arm grabbing control system and method based on intelligent stereoscopic vision |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106774324A (en) * | 2016-12-22 | 2017-05-31 | 以恒激光科技（北京）有限公司 | A kind of three-dimensional identification patrol robot of dual camera |
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| CN106826822A (en) * | 2017-01-25 | 2017-06-13 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS systems |
| WO2018137445A1 (en) * | 2017-01-25 | 2018-08-02 | 南京阿凡达机器人科技有限公司 | Ros-based mechanical arm grabbing method and system |
| CN106826822B (en) * | 2017-01-25 | 2019-04-16 | 南京阿凡达机器人科技有限公司 | A kind of vision positioning and mechanical arm crawl implementation method based on ROS system |
| CN106926241A (en) * | 2017-03-20 | 2017-07-07 | 深圳市智能机器人研究院 | A kind of the tow-armed robot assembly method and system of view-based access control model guiding |
| CN108621436A (en) * | 2017-03-23 | 2018-10-09 | 泰科电子(上海)有限公司 | Package system |
| CN107443369A (en) * | 2017-06-25 | 2017-12-08 | 重庆市计量质量检测研究院 | A kind of robotic arm of the inverse identification of view-based access control model measurement model is without demarcation method of servo-controlling |
| CN107471218A (en) * | 2017-09-07 | 2017-12-15 | 南京理工大学 | A kind of tow-armed robot hand eye coordination method based on multi-vision visual |
| CN107471218B (en) * | 2017-09-07 | 2020-09-11 | 南京理工大学 | Binocular vision-based hand-eye coordination method for double-arm robot |
| CN107911687A (en) * | 2017-12-11 | 2018-04-13 | 中国科学院长春光学精密机械与物理研究所 | Teleoperation of robot auxiliary system based on binocular stereo vision |
| CN108381549A (en) * | 2018-01-26 | 2018-08-10 | 广东三三智能科技有限公司 | A kind of quick grasping means of binocular vision guided robot, device and storage medium |
| CN108381549B (en) * | 2018-01-26 | 2021-12-14 | 广东三三智能科技有限公司 | Binocular vision guide robot rapid grabbing method and device and storage medium |
| CN108453739A (en) * | 2018-04-04 | 2018-08-28 | 北京航空航天大学 | Stereoscopic vision positioning mechanical arm grasping system and method based on automatic shape fitting |
| CN109108975A (en) * | 2018-08-31 | 2019-01-01 | 深圳市博辉特科技有限公司 | A kind of 6 axis robot of binocular vision guidance system |
| CN111823223A (en) * | 2019-08-19 | 2020-10-27 | 北京伟景智能科技有限公司 | Robot arm grabbing control system and method based on intelligent stereoscopic vision |
| CN111823223B (en) * | 2019-08-19 | 2023-12-29 | 北京伟景智能科技有限公司 | Robot arm grabbing control system and method based on intelligent stereoscopic vision |
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